Study On Control System Of Lunar Rover Based On Can Bus

Lunar rover is a mobile robot exploring harsh lunar environment. Rover development involves many technologies, such as artificial intelligence, auto-control, framework, communication, computer science, etc.The control system is the basic and important subsystem of lunar rover. The performance and task life decide whether the exploration mission would succeed.Focusing on the moving mechanism, data transimission and multi sensor system, the studies on the data communication system, multi sensor data gathering and fusion system, teleoperation and autonomous function for the lunar rover are presented in this paper.By the analysis of the mechanism of the rover and its Kinematic analysis, the 3-dimensional model of the six-wheeled rocker-bogie lunar rover is made, which is helpful for the kinematics simulation.Focusing on the functions which should be realized and the construction of the CAN bus network used in this system, a communication protocol is designed. The hardware interfaces of every node are developed, and the softwares are developed too.The multi sensor data gathering module is designed on the basis of meeting requirements of the functions if the rover would run on the surface of the moon. The analysis of the types and functions of the sensors helps to design the interfaces of the hardware and software. The application of the multi sensor data fusion in the rover system is also analysized.The softwares for the teleoperation on PC and on the rover are designed, which run well and some of the motions of the rover are controlled via wireless communication network in many experiments. And some methods based on a basic model for the path planing and autonomous function are presented.